Bus-mounted overhead safe vending machine and commodity overturn-preventing conveying method

Abstract

The bus-mounted overhead safe vending machine comprises a vending machine body and bus seats, the bus seats are arranged on one side of the vending machine body side by side, and selling codes connected with a control host on one side of the vending machine body are arranged on the back faces of the bus seats; a linear guide rail is fixedly supported above the bus seat through parallel stand columns, a driving motor is installed at one end of the linear guide rail, the output end of the driving motor extends to the inner side of the linear guide rail and is connected with a threaded rod, a linear sliding block connected with the threaded rod is further arranged on the linear guide rail, and a delivery bracket is arranged at the bottom of the linear sliding block; a first vending groove, a second vending groove and a third vending groove are formed in the vending machine in an up-down parallel mode. The selling code connected with the control host on one side of the vending machine is arranged on the back face of each bus seat, and a passenger can complete shopping only by scanning the selling code on the seat without leaving the seat. And the shopping convenience of passengers is greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of bus vending machines, in particular to a bus-mounted overhead safety vending machine and a commodity anti-overturning conveying method. BACKGROUND

[0002] With the rapid development of public transportation, as a wide coverage and high frequency travel tool, the diversification of the service function of the bus has become an important direction to improve the passenger experience. During the bus travel, passengers often have instant shopping needs, such as rain gear in case of sudden rain, convenient breakfast in the morning rush hour, and emergency items such as paper towels or band-aids. Therefore, the vehicle-mounted vending device has gradually become an exploration direction for upgrading bus services, but there are still many problems to be solved in the related devices in the prior art. Firstly, the contradiction between space occupation and safety is prominent. The traditional vehicle-mounted vending machine is usually installed in the middle aisle of the vehicle compartment, near the front door or the gap between the seats, which occupies a certain standing or passing space of the passengers. During the peak period, such devices can exacerbate the congestion in the vehicle compartment, affecting the efficiency of passengers getting on and off the bus, and may cause collisions and stampedes due to passengers taking detours to get the goods. The protruding cabinet or goods channel of some simple vending devices due to unreasonable structural design may also become an obstacle to bumping passengers, which is contrary to the safety requirements of bus travel.

[0003] Secondly, the shopping process is complicated and the safety is insufficient. The existing vehicle-mounted vending method requires passengers to actively go to the vending point to select goods. When the vehicle is running (especially sudden braking and turning) or the vehicle compartment is crowded, passengers are prone to fall during the process of standing up and moving to the vending area, resulting in poor overall shopping experience and high risk. SUMMARY

[0004] The purpose of the present application is to provide a bus-mounted overhead safety vending machine and a commodity anti-overturning conveying method to solve the problems raised in the background art.

[0005] To achieve the above purpose, the present application provides the following technical solution: a bus-mounted overhead safety vending machine, comprising a vending machine and a bus seat, one side of the vending machine is provided with a bus seat in parallel, the back of each bus seat is provided with a vending code connected with the control host on one side of the vending machine, and the upper part of the bus seat is fixed and supported by a vertical column in parallel with a linear guide rail, one end of the linear guide rail is provided with a driving motor, the output end of the driving motor extends to the inside of the linear guide rail and is connected with a threaded rod, and the linear guide rail is further provided with a linear slide connected with the threaded rod, and the bottom of the linear slide is provided with a delivery bracket. The vending machine is internally provided with vending groove one, vending groove two and vending groove three in parallel, and a servo motor is installed on one side of the vending machine interior, the output end of the servo motor is connected with a lead screw, a threaded block is arranged on the lead screw, a lifting sliding block is arranged on one side of the threaded block, and a conveying bracket is arranged on one side of the lifting sliding block.

[0006] Preferably, a guide rail is arranged on one side of the lead screw in the vending machine interior, and the lifting sliding block is slidingly installed on the outer side of the guide rail.

[0007] Preferably, discharge groove one, discharge groove two and discharge groove three are respectively arranged in the vending machine interior from bottom to bottom corresponding to the positions of vending groove one, vending groove two and vending groove three, and the discharge groove one, discharge groove two and discharge groove three are all arranged inclined downward.

[0008] Preferably, a discharge port is arranged on the top of one side of the vending machine corresponding to the position of the delivery bracket, a guide groove is arranged on the vending machine outside the discharge port, and the height of the guide groove is higher than the height of the delivery bracket.

[0009] Preferably, a partition is arranged in the vending groove one, vending groove two and vending groove three, and a sub-packaging groove for loading goods is uniformly arranged in the vending groove one, vending groove two and vending groove three on one side of the partition.

[0010] Preferably, a cavity is arranged in the vending groove one, vending groove two and vending groove three on the other side of the partition, and an electric push rod is arranged in the cavity corresponding to the position of each sub-packaging groove, and the output end of each electric push rod extends into each sub-packaging groove and is connected with a delivery push plate.

[0011] Preferably, the conveying bracket is arranged inclined downward, and the output end of the conveying bracket is attached to the inner wall of the vending machine.

[0012] Compared with the prior art, the bus-mounted top-mounted safety vending machine has obvious advantages and positive effects, which are embodied in the following aspects: 1. By arranging a vending code connected with the control host on one side of the vending machine on the back of each bus seat, passengers can complete shopping by scanning the vending code on the seat without leaving the seat. This greatly improves the shopping convenience of passengers, especially during peak hours or on crowded buses, avoiding safety hazards such as bumps and wrestling caused by walking. Traditional shopping in the bus often requires passengers to go to the vending area, which not only increases the frequency of walking in the bus, but also may cause congestion and confusion. The present application directly delivers goods to the passenger seat above through the linear guide rail and the driving motor, and the passenger can take the goods by stretching his hand, which significantly reduces the walking in the bus and improves the overall safety of riding.

[0013] 2. The vending machine can provide emergency items such as disposable rain gear, breakfast, etc., solving the problem of passengers forgetting to carry essential items due to haste or unexpected situations (such as sudden heavy rain). Not only does it improve passenger satisfaction, but it also adds value to public transportation services. The vending machine has multiple vending slots and sub-assembly slots inside, which can accommodate a variety of goods to meet the diverse needs of different passengers. Whether it's daily necessities or emergency items, passengers can easily access them on the bus.

[0014] 3. Through the cooperation of servo motors, lead screws and lifting blocks, goods can be accurately transferred from vending slots to conveying brackets, and then delivered to the passenger seat area through linear guide rails. The automated delivery system not only improves the efficiency of vending, but also reduces the error of manual operation, ensuring accurate delivery of goods. The setting of the guide rail ensures the stable sliding of the lifting block, further improving the stability and reliability of the delivery process.

[0015] 4. The vending machine is placed on the top of the bus, making full use of the space inside the bus and avoiding occupying the standing or walking area of passengers. Not only does it improve space utilization, but it also maintains a clean and spacious environment inside the bus. The conveying bracket is inclined downward and fits the inner wall of the vending machine, ensuring the stability and smoothness of the goods during the conveying process, reducing the risk of jamming and falling.

[0016] In a second aspect, the present application provides a method for preventing overturning of goods in a top-mounted safety vending machine on a bus, comprising: Real-time acquisition of commodity state data and vehicle motion data in the vending machine shelf, combination of the commodity state data and the vehicle motion data, evaluation of the delivery instability of the goods in the vending machine shelf, planning of the anti-overturning intervention area of the vending machine; Based on the delivery instability, set the delivery speed instruction of the vending machine shelf about the anti-overturning intervention area to execute the speed adjustment control of the vending machine shelf about the goods, and analyze the pressure distribution uniformity of the goods in the anti-overturning intervention area in real time; Based on the pressure distribution uniformity, determine the balance compensation position of the vending machine shelf, and based on the balance compensation position, execute the pose adjustment control of the goods in the vending machine shelf to obtain a stable delivery result.

[0017] In a possible implementation manner of the second aspect, the combination of the commodity state data and the vehicle motion data to evaluate the delivery instability of the goods in the vending machine shelf comprises: Time sequence alignment processing is performed on the commodity state data and vehicle motion data to obtain a synchronized data set; Abnormal data is removed from the synchronized data set to obtain a target synchronized data set; Perform feature correlation analysis on the target synchronization data set to obtain correlation feature data; Extract the instability factor from the correlation feature data to obtain an instability feature vector; Perform risk quantification processing on the instability feature vector to obtain an instability quantification value; Based on the instability quantification value, determine the instability of the goods in the vending machine shelf.

[0018] In a possible implementation manner of the second aspect, the real-time analysis of the pressure distribution uniformity of the goods in the anti-overturning intervention area includes: Collecting pressure raw data of the goods in the anti-overturning intervention area; Classifying the pressure raw data by position partitioning to obtain partitioned pressure data; Calculating the area pressure mean value of the partitioned pressure data to obtain a partitioned average pressure; Statistically analyzing the pressure distribution reference corresponding to the partitioned average pressure; Based on the pressure distribution reference, calculating the pressure deviation degree corresponding to the partitioned average pressure; Based on the pressure deviation degree, analyzing the pressure distribution uniformity of the goods in the anti-overturning intervention area. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 The overall structure of the present application is shown in the schematic diagram; Figure 2 The internal vending slot distribution structure of the vending machine of the present application is shown in the schematic diagram; Figure 3 The side view structure of the present application is shown in the schematic diagram; Figure 4 The Figure 1 The enlarged structure of position A in the present application is shown in the schematic diagram; Figure 5 The structure of the dispensing mechanism of the present application is shown in the schematic diagram; Figure 6 The internal structure of the vending slot of the present application is shown in the schematic diagram; Figure 7 The flow chart of the goods anti-overturning conveying method of the bus-mounted overhead safety vending machine according to an embodiment of the present application is shown in the schematic diagram; In the figure: 1, vending machine; 2, control host; 3, bus seat; 4, selling code; 5, column; 6, threaded rod; 7, linear slider; 8, linear guide rail; 9, driving motor; 10, discharge port; 11, guide groove; 12, delivery bracket; 13, vending slot one; 14, vending slot two; 15, vending slot three; 16, lead screw; 17, discharge slot one; 18, discharge slot two; 19, discharge slot three; 20, conveying bracket; 21, servo motor; 22, threaded block; 23, lifting slider; 24, guide slide rail; 25, sub-packaging groove; 26, partition; 27, cavity; 28, electric push rod; 29, delivery push plate. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present application.

[0021] Please refer to Figures 1-6 An embodiment provided by the present application: a bus-mounted top-mounted safety vending machine, comprising a vending machine 1 and a bus seat 3, and the bus seat 3 is arranged side by side on one side of the vending machine 1. The back of each bus seat 3 is provided with a selling code 4 connected with a control host 2 on one side of the vending machine 1.

[0022] Bus seat 3: Each bus seat 3 is arranged along the two sides of the vehicle body and arranged side by side with one side of the vending machine 1. The back of each seat 3 is fixed with a selling code 4.

[0023] Control host 2: The control host 2 is installed inside the vending machine 1 and connected with the selling code 4 on the back of each seat 3 through a data line. The control host 2 is responsible for receiving and processing the scanning signals from the selling code 4 and controlling the delivery action of the vending machine.

[0024] Selling code 4: The selling code 4 adopts a two-dimensional code or a bar code form and is fixed on the back of each bus seat 3. Passengers can trigger the delivery function of the vending machine by scanning the corresponding selling code 4.

[0025] The top of the bus seat 3 is fixed and supported by the linear guide rail 8 through the parallel columns 5. One end of the linear guide rail 8 is provided with a driving motor 9. The output end of the driving motor 9 extends to the inside of the linear guide rail 8 and is connected with a threaded rod 6. The linear guide rail 8 is also provided with a linear slider 7 connected with the threaded rod 6. The bottom of the linear slider 7 is provided with a delivery bracket 12.

[0026] The upper part of the bus seat 3 is fixedly supported by the parallel column 5 with a linear guide rail 8. The column 5 is made of high-strength steel material to ensure that it can bear the weight of the linear guide rail 8 and its upper part and the dynamic load during operation. The two ends of the column 5 are fixed on the bus ceiling and the floor respectively to form a stable support structure.

[0027] One end of the linear guide rail 8 is provided with a driving motor 9. The driving motor 9 is selected from a high-efficiency DC motor, which has the characteristics of large starting torque and stable operation. The output end of the driving motor 9 extends to the inside of the linear guide rail 8 through a shaft coupling and is connected with a threaded rod 6. The threaded rod 6 is made of high-strength stainless steel material and the surface is treated for corrosion resistance to adapt to the complex environment in the bus.

[0028] The threaded rod 6 is connected with the output end of the driving motor 9 through threads. When the driving motor 9 rotates, the threaded rod 6 rotates with it. The linear guide rail 8 is provided with a linear slider 7 connected with the threaded rod 6. The linear slider 7 cooperates with the threaded rod 6 through the internal screw pair, so that the linear slider 7 moves linearly along the linear guide rail 8 when the threaded rod 6 rotates.

[0029] The bottom of the linear slider 7 is provided with a delivery bracket 12. The delivery bracket 12 is made of light alloy material and the surface is treated for anti-skid to ensure that the goods are stable and do not slide during transportation. The design of the delivery bracket 12 fully considers the placement requirements of goods of different sizes to ensure the safety of goods during transportation.

[0030] The vending machine 1 is provided with a discharge port 10 at the position corresponding to the delivery bracket 12 on one side of the top. The vending machine 1 outside the discharge port 10 is provided with a guide groove 11, and the height of the guide groove 11 is higher than that of the delivery bracket 12.

[0031] The vending machine 1 is provided with a discharge port 10 at the position corresponding to the delivery bracket 12 on one side of the top. The size of the discharge port 10 is designed according to the size of the goods to ensure that the goods can smoothly pass through.

[0032] The vending machine 1 outside the discharge port 10 is provided with a guide groove 11. The height of the guide groove 11 is higher than that of the delivery bracket 12 to ensure that the goods can smoothly enter the guide groove after sliding out of the discharge port. The material of the guide groove 11 is smooth plastic or metal to reduce the friction of the goods during sliding.

[0033] The cross section of the guide groove 11 is U-shaped or V-shaped, the bottom is smooth, and the two sides are slightly inclined to guide the goods to slide downward.

[0034] The vending machine 1 has vending slot 1 13, vending slot 2 14 and vending slot 3 15 arranged side by side inside. A servo motor 21 is installed on one side inside the vending machine 1. The output end of the servo motor 21 is connected to a lead screw 16. A threaded block 22 is provided on the lead screw 16. A lifting slider 23 is provided on one side of the threaded block 22. A conveyor bracket 20 is provided on one side of the lifting slider 23.

[0035] The vending machine 1 on one side of the lead screw 16 is equipped with a guide rail 24, and the lifting slider 23 is slidably installed on the outside of the guide rail 24.

[0036] The conveyor tray 20 is tilted downwards, and the output end of the conveyor tray 20 is in contact with the inner wall of the vending machine 1.

[0037] The vending machine 1 has three vending slots arranged side by side inside, namely vending slot one 13, vending slot two 14, and vending slot three 15. These vending slots are used to store different products, which facilitates classification management and sales.

[0038] Servo motor 21 drives lead screw 16, and threaded block 22 moves axially on lead screw 16, thereby driving lifting slider 23 to move on guide rail 24, realizing the lifting of conveyor bracket 20.

[0039] The conveyor tray 20 is tilted downwards, with its output end fitting against the inner wall of the vending machine 1. This design allows the goods to slide smoothly into the dispensing port 10 under gravity after being conveyed to the dispensing port 10.

[0040] Inside the vending machine 1, from bottom to top, at the positions corresponding to vending slot 13, vending slot 24 and vending slot 315, there are dispensing slots 17, 28 and 39 respectively, and dispensing slots 17, 28 and 3 are all inclined downwards.

[0041] Below vending slot 13, vending slot 24, and vending slot 35, there are corresponding dispensing slots 17, 18, and 19. The main function of these dispensing slots is to smoothly guide the goods from the vending slots to the dispensing port of the vending machine.

[0042] Discharge trough 17, discharge trough 2 18, and discharge trough 3 19 are all inclined downwards. Specifically, the inclination angle of the discharge troughs is preferably 30° to 45° to ensure that the goods can slide out smoothly under the action of gravity. This inclined design not only improves the discharge efficiency of the goods, but also reduces the possibility of jamming.

[0043] Each of the vending troughs 13, 24, and 35 is equipped with a partition 26. Each of the vending troughs 13, 24, and 35 on one side of the partition 26 is equipped with a dispensing trough 25 for loading goods.

[0044] The interiors of the vending slots one 13, the vending slots two 14 and the vending slots three 15 on the other side of the partition 26 are provided with cavities 27, and each cavity 27 is provided with an electric push rod 28 corresponding to the position of each sub-packaging slot 25. The output end of each electric push rod 28 extends into each sub-packaging slot 25 and is connected with a delivery push plate 29.

[0045] The interiors of the vending slots one 13, the vending slots two 14 and the vending slots three 15 are all provided with a partition 26. The partition 26 divides the interior space of each vending slot into two main parts to facilitate different functions.

[0046] On one side of the partition 26, the interiors of the vending slots one 13, the vending slots two 14 and the vending slots three 15 are uniformly provided with sub-packaging slots 25 for loading goods. The size and shape of each sub-packaging slot 25 are designed according to the actual needs of the goods to ensure that the goods can be stably placed therein.

[0047] On the other side of the partition 26, the interiors of the vending slots one 13, the vending slots two 14 and the vending slots three 15 are provided with cavities 27. The space of the cavity 27 is moderate to ensure the normal operation of the internal components. In the interior of each cavity 27, an electric push rod 28 is provided corresponding to the position of each sub-packaging slot 25. The selection of the electric push rod 28 should consider its thrust and stroke to ensure that the goods can be smoothly pushed out of the sub-packaging slot 25.

[0048] The output end of each electric push rod 28 extends into each sub-packaging slot 25 and is connected with a delivery push plate 29. The delivery push plate 29 should be designed to be light and strong, and its surface can be covered with a layer of anti-slip material to increase the friction with the goods and ensure that the goods will not slip during the pushing process.

[0049] When the embodiment of the application is in use, if a passenger has a shopping demand after taking the bus and sitting down, the passenger scans the selling code 4 on the back of the bus seat 3 with a mobile phone, enters the commodity selection interface to complete the order payment, and the payment information is synchronously transmitted to the control host 2 on one side of the vending machine 1. After receiving the order information, the control host 2 determines the vending slot (the vending slot one 13, the vending slot two 14 or the vending slot three 15) and the corresponding sub-packaging slot 25 where the target commodity is located.

[0050] The control host 2 starts the servo motor 21 to drive the screw rod 16 to rotate, drive the threaded block 22 and the lifting slide block 23 to ascend and descend along the guide slide rail 24, and adjust the conveying bracket 20 to the height suitable for the outlet of the target discharge slot.

[0051] Subsequently, the electric push rod 28 in the cavity 27 behind the dispensing tank 25 is started. The electric push rod 28 extends and pushes the delivery push plate 29 to push the goods in the dispensing tank 25 out, the goods slide to the discharge tank (discharge tank one 17, discharge tank two 18 or discharge tank three 19) below the corresponding vending tank under the action of gravity, and slide along the inclined discharge tank to the conveying bracket 20.

[0052] The servo motor 21 continues to drive the screw rod 16 to rotate to drive the threaded block 22 and the lifting slide block 23 to ascend along the guide slide rail 24 to the discharge port 10 position, and the goods slide along the inclined conveying bracket 20 to the discharge port 10 at the top of one side of the vending machine 1.

[0053] The goods slide out of the discharge port 10, are guided through the guide groove 11 on the outside (because the height is higher than the delivery bracket 12), and finally fall into the delivery bracket 12 at the bottom of the linear slide block 7.

[0054] The control host 2 starts the drive motor 9 at one end of the linear guide rail 8, drives the threaded rod 6 to rotate, and moves the linear slide block 7 along the linear guide rail 8 (supported by the stand column 5) to the direction corresponding to the bus seat 3, until the delivery bracket 12 reaches above the bus seat 3.

[0055] The passenger takes the goods from the delivery bracket 12, completes the delivery, and the control host 2 subsequently controls the drive motor 9 to reverse, so that the linear slide block 7 drives the delivery bracket 12 to reset to the initial position along the linear guide rail 8, and the servo motor 21 drives the conveying bracket 20 to reset, waiting for the next order.

[0056] Referring to Figure 7 Fig. 1 is a bus-mounted top-mounted safety vending machine according to an embodiment of the present application, and Fig. 2 is a method for preventing overturning of goods in the bus-mounted top-mounted safety vending machine according to an embodiment of the present application. S1, real-time collection of goods state data and vehicle motion data in the vending machine rack, extraction of displacement trend features in the goods state data and turning features in the vehicle motion data, evaluation of the delivery instability of the goods in the vending machine rack based on the displacement trend features and the turning features, and planning of a anti-overturning intervention area of the vending machine.

[0057] The application can evaluate the instability of goods in the vending machine shelf by combining the commodity state data and the vehicle motion data, can capture the risk of goods falling due to vehicle motion in real time, can accurately plan the anti-falling intervention area, can effectively reduce the damage rate of goods in the mobile vending process, can reduce the problem of vending interruption caused by goods falling, and can improve the operation efficiency of mobile vending and the user shopping experience. The vending machine shelf refers to a layered goods storage structure installed on a mobile vehicle such as a mobile vending vehicle. The commodity state data is the real-time position coordinates, vibration acceleration, and offset of goods collected by the infrared displacement sensor and three-axis acceleration sensor installed on each layer of the shelf. The vehicle motion data is the steering angle, steering angular velocity, centrifugal acceleration, and driving speed of the vehicle collected by the vehicle-mounted Beidou positioning module and gyroscope. Further, the real-time synchronous acquisition of the commodity state data and the vehicle motion data can be realized through the 5G edge computing module, and the data timestamp error is less than 10ms.

[0058] As an embodiment of the application, the combination of the commodity state data and the vehicle motion data to evaluate the instability of the goods in the vending machine shelf includes: The time sequence alignment processing is performed on the commodity state data and the vehicle motion data to obtain a synchronous data set. The abnormality elimination processing is performed on the synchronous data set to obtain a target synchronous data set. The feature correlation analysis is performed on the target synchronous data set to obtain correlation feature data. The instability factor extraction is performed on the correlation feature data to obtain an instability feature vector. The risk quantification processing is performed on the instability feature vector to obtain an instability quantification value. Based on the instability quantification value, the instability of the goods in the vending machine shelf is determined.

[0059] The synchronization data set is a matched data set formed by calibrating the commodity state data and the vehicle motion data according to timestamps; the target synchronization data set is an effective data set obtained by removing transient interference data (such as sensor false alarm data) from the synchronization data set after outlier removal processing; the correlation characteristic data is data obtained by analyzing the correlation between the commodity state and the vehicle motion in the clean synchronization data set (such as offset response data of the commodity when the vehicle turns); the instability characteristic vector is a multi-dimensional quantitative vector (such as the correlation coefficient of the offset and the turning angle, the matching degree of the vibration frequency and the driving speed, etc.) that can reflect the instability degree of the commodity, which is extracted from the correlation characteristic data; the instability quantitative value is a 0-10 numerical value (the larger the value, the higher the instability) obtained by quantitatively processing the instability characteristic vector; and the conveying instability refers to the stable state description of the commodity in the conveying process determined based on the instability quantitative value (such as low instability, medium instability, and high instability).

[0060] Further, the dynamic time warping algorithm can be used to perform time axis alignment processing on the commodity state data and the vehicle motion data to obtain the synchronization data set; the 3σ rule can be used to perform outlier removal processing on the synchronization data set to obtain the clean synchronization data set; the Pearson correlation coefficient calculation can be used to perform feature correlation analysis on the clean synchronization data set to obtain the correlation characteristic data; the principal component analysis method can be used to extract instability factors from the correlation characteristic data, and the top 5 factors that have the greatest impact are selected to form the instability characteristic vector; the fuzzy comprehensive evaluation method can be used to quantitatively process the risk level of the instability characteristic vector to obtain the instability quantitative value; and based on the instability quantitative value, the preset threshold (such as 0-3 for low instability, 4-6 for medium instability, and 7-10 for high instability) is used to determine the conveying instability of the commodity in the vending machine shelf.

[0061] The present application can implement anti-tilt measures for high instability risk areas based on the conveying instability, avoid resource waste caused by indiscriminate intervention, effectively reduce the situation of commodity dumping damage, guarantee the stable operation of the vending machine during movement, and improve the selling efficiency and user purchase experience, wherein the anti-tilt intervention area is a specific spatial area (such as the left half of a certain layer, the front area of a certain partition, etc.) on the shelf of the vending machine that has a risk of commodity dumping, and further, based on the conveying instability, the anti-tilt intervention area of the vending machine can be planned according to the priority of the instability level, for example, when the conveying instability of a certain area reaches 8 (high instability level), it is listed as a first-level intervention area and the anti-tilt device is started preferentially, and the area with an instability of 5 (medium instability level) is listed as a second-level intervention area and the intervention is delayed for 0.5 seconds.

[0062] S2, based on the transport instability, set the transport speed instruction of the vending machine shelf about the anti-toppling intervention area to perform the speed adjustment control of the vending machine shelf about the goods, and analyze the pressure distribution uniformity of the goods in the anti-toppling intervention area in real time.

[0063] The present application can accurately adjust the goods transport speed of the vending machine shelf in the anti-toppling intervention area, reduce the risk of goods toppling, and further judge the speed adjustment effect by analyzing the pressure distribution uniformity in real time, thereby providing a basis for subsequent optimization adjustment.

[0064] The transport speed instruction is an instruction signal (including target speed value, speed adjustment start and stop time, etc.) for controlling the running speed of the vending machine shelf transport mechanism; the speed adjustment control is a dynamic adjustment operation of the transport motor speed of the vending machine shelf according to the transport speed instruction; the pressure distribution uniformity is the uniformity of the pressure of the goods in the anti-toppling intervention area supported by the shelf support structure or the surrounding goods, which is represented by a value of 0-1 (1 for complete uniformity); further, the transport speed instruction can be set by the instruction generation module of the shelf control system.

[0065] The present application can dynamically adapt to the goods transport demand to reduce the toppling situation, and accurately judge the stability of the goods through pressure feedback, thereby providing a reliable basis for subsequent intervention optimization, thereby improving the stability of the vending machine goods transport and the smoothness of the operation, wherein the pressure distribution uniformity is the uniformity of the pressure of the goods in the anti-toppling intervention area supported by the shelf support structure or the surrounding goods, which is represented by a value of 0-1 (1 for complete uniformity).

[0066] As an embodiment of the present application, the real-time analysis of the pressure distribution uniformity of the goods in the anti-toppling intervention area comprises: Collecting the pressure original data of the goods in the anti-toppling intervention area; Classifying the position partition of the pressure original data to obtain partition pressure data; Calculating the area pressure mean of the partition pressure data to obtain the partition average pressure; Statistically analyzing the pressure distribution reference corresponding to the partition average pressure; Based on the pressure distribution reference, calculating the pressure deviation degree corresponding to the partition average pressure; Based on the pressure deviation degree, analyzing the pressure distribution uniformity of the goods in the anti-toppling intervention area.

[0067] The pressure raw data is the initial pressure value set collected by the sensor in real time, which is the self-gravity of the goods in the anti-tilt intervention area and the inertial force generated by the vehicle movement acting on the shelf pressure sensor; the partition pressure data is the pressure data classified according to the preset physical partition (such as front left, rear left, front right, rear right) in the anti-tilt intervention area; the partition average pressure is the pressure value obtained by calculating the arithmetic mean of the pressure data in each partition; the pressure distribution reference is the reference data reflecting the overall pressure distribution condition, including the total average value and the maximum deviation value of all partition average pressures; the pressure deviation degree is the percentage of the difference between the partition average pressure and the overall average value to the overall average value; and the pressure distribution uniformity is the uniformity identification (such as excellent, good, medium, and poor) according to the deviation degree.

[0068] Further, the pressure raw data collected by the pressure sensor can be processed by the box plot analysis method to obtain effective pressure data; the effective pressure data can be classified according to the collection position by the preset partition coordinate range to obtain partition pressure data; the regional average pressure value of the partition pressure data can be calculated by the arithmetic mean formula to obtain the partition average pressure; the overall average value and the deviation range of the partition average pressure can be calculated by the statistical function to obtain the pressure distribution reference; based on the pressure distribution reference, the deviation degree of the partition average pressure and the overall average value can be calculated by the formula (partition average pressure-overall average value) / overall average value*100%; based on the pressure deviation degree, the pressure distribution uniformity of the goods in the anti-tilt intervention area is analyzed (such as deviation degree≤5% for excellent, 5%-10% for good, 10%-15% for medium, and >15% for poor), and the pressure distribution uniformity is obtained.

[0069] S3, based on the pressure distribution uniformity, determining the balance compensation position of the vending machine shelf, and based on the balance compensation position, performing the goods pose adjustment control in the vending machine shelf to obtain a stable conveying result.

[0070] The application can accurately lock the key position of the goods on the shelf by determining the balance compensation position based on the pressure distribution uniformity, and can adjust the attitude of the goods to balance the stress by adjusting the attitude of the goods, so as to avoid the goods from falling due to uneven stress, and to improve the stability of the vending machine goods conveying. The balance compensation position refers to a specific point of the shelf (such as the right middle part of a certain layer of the shelf, the front corner of the bottom shelf, etc.) which can improve the stress state of the goods calculated according to the pressure distribution uniformity. The attitude adjustment control of the goods refers to the operation of adjusting the goods by changing the spatial position (such as moving along the X and Y axes of the shelf) and attitude (such as the clamping angle and support height) of the goods taking mechanical arm in the shelf. The stable conveying result refers to the state that the pressure distribution uniformity of the goods reaches the preset standard (such as ≥0.8) and there is no obvious deviation in the conveying process after the mechanical arm is adjusted. Further, based on the balance compensation position, the attitude adjustment control of the goods is performed, and the specific adjustment steps are as follows: driving the related goods taking mechanical arm to move to the vicinity of the goods corresponding to the balance compensation position with millimeter level precision; detecting the contact pressure of the goods by the pressure sensing device at the end of the goods taking mechanical arm, and stopping approaching when the contact pressure reaches 5N; adjusting the goods taking angle of the goods taking mechanical arm according to the preset adjustment rule (such as lifting 5mm in the area with low pressure deviation), and synchronously monitoring the change of the pressure distribution of the goods; keeping the support state of the mechanical arm for 2 seconds after the adjustment is completed, and resetting after confirming the stability of the goods, so as to obtain the stable conveying result.

[0071] As an embodiment of the application, the balance compensation position of the vending machine shelf is determined based on the pressure distribution uniformity, comprising: The pressure distribution uniformity is numerically analyzed to obtain pressure deviation data; According to the pressure deviation data, the pressure abnormal area of the vending machine shelf is marked; The spatial coordinates of the pressure abnormal area are converted to obtain abnormal area coordinates; Based on the abnormal area coordinates, the position offset required for balance compensation of the vending machine shelf is calculated; Based on the position offset, the balance compensation position of the vending machine shelf is determined.

[0072] Wherein, the pressure deviation data is the difference data of the pressure of each area and the average pressure after numerical analysis of the pressure distribution uniformity; the pressure abnormal area refers to the area where the pressure deviation exceeds the preset range (such as deviation absolute value > 15%); the three-dimensional coordinates of the abnormal area are the data obtained by converting the position of the pressure abnormal area in the shelf plane to three-dimensional space coordinates; the position offset refers to the movement distance of the mechanical arm action point relative to the abnormal area required for balancing the pressure.

[0073] Further, the pressure distribution uniformity can be numerically analyzed by a pressure difference value calculation formula (pressure of a certain area-average pressure) to obtain pressure deviation data; according to the pressure deviation data, when the absolute value of deviation is > 15%, mark as a pressure abnormal area; the pressure abnormal area can be converted by a three-dimensional coordinate conversion rule preset by the shelf to obtain abnormal area three-dimensional coordinates; based on the abnormal area three-dimensional coordinates, the position offset required for balance compensation can be calculated by a balance algorithm (such as 8mm offset to the area with too low pressure); combined with the position offset and the coordinate system corresponding to the shelf, the balance compensation position can be determined by coordinate superposition operation.

[0074] Obviously, the above-described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the scope of protection of the present application.

[0075] It should be noted that the terms used herein are only intended to describe specific embodiments, and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form, unless the context clearly indicates otherwise, and it should be understood that when the terms "comprise" and / or "include" are used in the specification, there is a feature, step, work, device, component and / or combination thereof.

[0076] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0077] The above is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A bus roof-mounted safety vending machine, comprising a vending machine (1) and a bus seat (3), characterized in that: One side of the vending machine (1) is provided with a bus seat (3), the back of each bus seat (3) is provided with a vending code (4) connected with the control host (2) of one side of the vending machine (1), and the upper side of the bus seat (3) is fixedly supported by the parallel column (5) with the linear guide rail (8), one end of the linear guide rail (8) is provided with the driving motor (9), the output end of the driving motor (9) extends to the inside of the linear guide rail (8) and is connected with the threaded rod (6), and the linear guide rail (8) is further provided with the linear slide (7) connected with the threaded rod (6), and the bottom of the linear slide (7) is provided with the delivery bracket (12). The inside of the vending machine (1) is provided with vending groove one (13), vending groove two (14) and vending groove three (15) in parallel, and one side of the inside of the vending machine (1) is provided with a servo motor (21), the output end of the servo motor (21) is connected with a screw rod (16), the screw rod (16) is provided with a threaded block (22), one side of the threaded block (22) is provided with a lifting slide (23), one side of the lifting slide (23) is provided with a conveying bracket (20).

2. The top loading bus safety vending machine of claim 1, wherein: The inside of the vending machine (1) on one side of the screw rod (16) is provided with a guide slide rail (24), and the lifting slide (23) is slidingly installed on the outside of the guide slide rail (24).

3. The top loading bus safety vending machine of claim 1, wherein: The inside of the vending machine (1) is provided with discharge chute one (17), discharge chute two (18) and discharge chute three (19) from bottom to bottom corresponding to the positions of vending groove one (13), vending groove two (14) and vending groove three (15), and the discharge chute one (17), discharge chute two (18) and discharge chute three (19) are all inclined downward.

4. The top loading bus safety vending machine of claim 1, wherein: The top of one side of the vending machine (1) is provided with a discharge port (10) corresponding to the position of the delivery bracket (12), the vending machine (1) outside the discharge port (10) is provided with a guide groove (11), and the height of the guide groove (11) is higher than the height of the delivery bracket (12).

5. The transit roof-top vending machine of claim 1, wherein: The inside of the vending groove one (13), the vending groove two (14) and the vending groove three (15) is provided with a partition (26), the inside of the vending groove one (13), the vending groove two (14) and the vending groove three (15) on one side of the partition (26) is uniformly provided with a sub-packaging groove (25) for loading goods.

6. The top loading bus safety vending machine of claim 5, wherein: The inside of the vending groove one (13), the vending groove two (14) and the vending groove three (15) on the other side of the partition (26) is provided with a cavity (27), and the inside of the cavity (27) is provided with an electric push rod (28) corresponding to the position of each sub-packaging groove (25), and the output end of each electric push rod (28) extends into the inside of each sub-packaging groove (25) and is connected with a delivery push plate (29).

7. The transit roof-top safety vending machine of claim 1, wherein: The conveying bracket (20) is inclined downward, and the output end of the conveying bracket (20) is attached to the inner wall of the vending machine (1).

8. The method of preventing overturning of goods in a top-mounted safe vending machine for a bus according to any one of claims 1 to 7, wherein the top-mounted safe vending machine for a bus according to any one of claims 1 to 7 executes the method of preventing overturning of goods. The method comprises: Real-time acquisition of commodity state data and vehicle motion data in the vending machine shelf, combining the commodity state data and the vehicle motion data, evaluating the unstable degree of the commodity in the vending machine shelf, to plan the anti-tilt intervention area of the vending machine; Based on the unstable degree, set the delivery speed instruction of the vending machine shelf about the anti-tilt intervention area to execute the speed adjustment control of the vending machine shelf about the goods, and analyze the pressure distribution uniformity of the goods in the anti-tilt intervention area in real time; Based on the pressure distribution uniformity, determine the balance compensation position of the vending machine shelf, and based on the balance compensation position, execute the commodity pose adjustment control in the vending machine shelf to obtain stable delivery results.

9. The method of claim 8, wherein, The combination of the commodity state data and the vehicle motion data, the evaluation of the unstable degree of the commodity in the vending machine shelf, includes: Time alignment processing of the commodity state data and vehicle motion data to obtain a synchronized data set; Abnormal data elimination processing of the synchronized data set to obtain a target synchronized data set; Feature correlation analysis of the target synchronized data set to obtain correlation feature data; Unstable degree factor extraction of the correlation feature data to obtain an unstable degree feature vector; Risk quantification processing of the unstable degree feature vector to obtain an unstable degree quantification value; Based on the unstable degree quantification value, determine the unstable degree of the commodity in the vending machine shelf.

10. The method of claim 8, wherein, The real-time analysis of the pressure distribution uniformity of the goods in the anti-tilt intervention area, includes: Acquisition of pressure raw data of goods in the anti-tilt intervention area; Position partition classification of the pressure raw data to obtain partition pressure data; Calculate the regional pressure mean of the partition pressure data to obtain the partition average pressure; Statistical pressure distribution reference corresponding to the partition average pressure; Based on the pressure distribution reference, calculate the pressure deviation degree corresponding to the partition average pressure; Based on the pressure deviation degree, analyze the pressure distribution uniformity of the goods in the anti-tilt intervention area.

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